#ifndef __MATH_HPP
#define __MATH_HPP

#include "matrix.hpp"

namespace seumath
{
inline Eigen::Matrix2d rotationMat2D(const double &deg)
{
    Eigen::Matrix2d temp;
    double rad = deg2rad(deg);
    temp << std::cos(rad), std::sin(rad),
         -std::sin(rad), std::cos(rad);
    return temp;
}

template<typename T>
inline bool floatEqual(T v1, T v2)
{
    return fabs(v1 - v2) < 1E-5;
}
}

#endif
